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论文类型：期刊论文

发表时间：2015-10-01

发表刊物：Guangxue Jingmi Gongcheng/Optics and Precision Engineering

收录刊物：EI、PKU、ISTIC、Scopus

卷号：23

页面范围：259-265

ISSN号：1004924X

摘要：An automated precision assembly system for the part with a trans-scale structure is developed in the paper. Based on the analysis of assembly task, the system uses a modular architecture, including computer control and human-machine interaction module, 3-DOF (Degree of Freedom) operation manipulator module, 1-DOF operation workstation module, 4-DOF visual measurement and screw assembly module, 1-DOF charging module and operation tool library module. According to the characteristics of the trans-scale part and assembly accuracy, the visual measurement module of this system is based on the Look and Move mode control strategy. To solve the problem of blind spot detection, the manipulator module is based on impedance control strategy to control the force of part assembly and the screw assembly module adopts the torque/time control method to realize the consistency of the pre-tightening force of the screw assembly. The results of assembly experiment for a miniature device show that the error of the coaxial degree is less than 13   m and the parallelism degree is less than 10   m. The assembly accuracy meets assembly requirements of miniature devices. ? 2015, Chinese Academy of Sciences. All right reserved.